Publications

Under Review

2026

1. Under Review

   

   Achieving Efficient Sampling-based Kinodynamic Planning: Challenges and Opportunities

   Thai Duong and Lydia E. Kavraki

   2026

   Bib

   @unpublished{duong2026achieving,
     title = {Achieving Efficient Sampling-based Kinodynamic Planning: Challenges and Opportunities},
     author = {Duong, Thai and Kavraki, Lydia E.},
     journal = {Under Review},
     year = {2026},
   }

2. Under Review

   

   Ultrafast Sampling-based Kinodynamic Planning via Differential Flatness

   Thai Duong , Clayton W. Ramsey, Zachary Kingston, Wil Thomason, and Lydia E. Kavraki

   2026

   Bib PDF

   @unpublished{duong2026akinopdf,
     title = {Ultrafast Sampling-based Kinodynamic Planning via Differential Flatness},
     author = {Duong, Thai and Ramsey, Clayton W. and Kingston, Zachary and Thomason, Wil and Kavraki, Lydia E.},
     journal = {arXiv preprint arXiv:2512.06315},
     year = {2026},
   }

Journal Articles

2026

1. Survey

   Control-Oriented System Identification: Classical, Learning, and Physics-Informed Approaches

   S Sivaranjani, Yuanyuan Shi, Nikolay Atanasov, Thai Duong , Jie Feng, and 4 more authors

   Annual Reviews in Control, 2026

   Bib PDF Code

   @article{sivaranjani2026control,
     title = {Control-Oriented System Identification: Classical, Learning, and Physics-Informed Approaches},
     author = {Sivaranjani, S and Shi, Yuanyuan and Atanasov, Nikolay and Duong, Thai and Feng, Jie and Martin, Tim and Xu, Yuezhu and Gupta, Vijay and Allg{\"o}wer, Frank},
     journal = {Annual Reviews in Control},
     year = {2026},
   }

2. RA-L

   

   Sampling-Based Motion Planning with Scene Graphs Under Perception Constraints

   Qingxi Meng, Emiliano Flores, Thai Duong , Vaibhav Unhelkar, and Lydia E. Kavraki

   IEEE Robotics and Automation Letters (RA-L), 2026

   Bib PDF

   @article{meng2026sampling,
     title = {Sampling-Based Motion Planning with Scene Graphs Under Perception Constraints},
     author = {Meng, Qingxi and Flores, Emiliano and Duong, Thai and Unhelkar, Vaibhav and Kavraki, Lydia E.},
     journal = {IEEE Robotics and Automation Letters (RA-L)},
     year = {2026},
   }

2025

1. T-RO

   

   Physics-informed Multi-agent Reinforcement Learning for Distributed Multi-robot Problems

   Eduardo Sebastian, Thai Duong , Nikolay Atanasov, Eduardo Montijano, and Carlos Sagüés

   IEEE Transactions on Robotics (T-RO), 2025

   Bib PDF Code Website

   @article{sebastian2025physics,
     title = {Physics-informed Multi-agent Reinforcement Learning for Distributed Multi-robot Problems},
     author = {Sebastian, Eduardo and Duong, Thai and Atanasov, Nikolay and Montijano, Eduardo and Sag{\"u}{\'e}s, Carlos},
     journal = {IEEE Transactions on Robotics (T-RO)},
     year = {2025},
   }

2. RA-L

   

   Learned IMU Bias Prediction for Invariant Visual Inertial Odometry

   Abdullah Altawaitan, Jason Stanley, Sambaran Ghosal, Thai Duong , and Nikolay Atanasov

   IEEE Robotics and Automation Letters (RA-L), 2025

   Bib PDF

   @article{altawaitan2025learned,
     title = {Learned IMU Bias Prediction for Invariant Visual Inertial Odometry},
     author = {Altawaitan, Abdullah and Stanley, Jason and Ghosal, Sambaran and Duong, Thai and Atanasov, Nikolay},
     journal = {IEEE Robotics and Automation Letters (RA-L)},
     year = {2025},
   }

3. RA-L

   

   Variable-frequency model learning and predictive control for jumping maneuvers on legged robots

   Chuong Nguyen, Abdullah Altawaitan, Thai Duong , Nikolay Atanasov, and Quan Nguyen

   IEEE Robotics and Automation Letters (RA-L), 2025

   Bib PDF Video Code

   @article{nguyen2025variable,
     title = {Variable-frequency model learning and predictive control for jumping maneuvers on legged robots},
     author = {Nguyen, Chuong and Altawaitan, Abdullah and Duong, Thai and Atanasov, Nikolay and Nguyen, Quan},
     journal = {IEEE Robotics and Automation Letters (RA-L)},
     year = {2025},
   }

2024

1. T-RO

   Port-Hamiltonian Neural ODE Networks on Lie Groups For Robot Dynamics Learning and Control

   Thai Duong , Abdullah Altawaitan, Jason Stanley, and Nikolay Atanasov

   IEEE Transactions on Robotics (T-RO), 2024

   Honorable Mention of the 2024 T-RO King-Sun Fu Memorial Best Paper Award
   2025 Best Paper Award from the IEEE RAS Technical Committee on Robot Control

   Bib PDF Code Website

   @article{duong2024port,
     title = {{Port-Hamiltonian Neural ODE Networks on Lie Groups For Robot Dynamics Learning and Control}},
     author = {Duong, Thai and Altawaitan, Abdullah and Stanley, Jason and Atanasov, Nikolay},
     journal = {IEEE Transactions on Robotics (T-RO)},
     year = {2024},
     note = {[<span style="color:#ff3636">Honorable Mention of the 2024 T-RO King-Sun Fu Memorial Best Paper Award</span>](https://www.credential.net/26fcbc80-2553-4d8c-8051-36f536a0f83e#acc.0EWGVk16) <br> [<span style="color:#ff3636">2025 Best Paper Award from the IEEE RAS Technical Committee on Robot Control</span>](https://ieee-ras-robot-control.github.io/awards/)},
   }

2022

1. OJ-CSYS

   

   Robust and Safe Autonomous Navigation for Systems with Learned SE(3) Hamiltonian Dynamics

   Zhichao Li, Thai Duong , and Nikolay Atanasov

   IEEE Open Journal of Control Systems (OJ-CSYS), 2022

   Bib PDF Website

   @article{li2022robust,
     title = {{Robust and Safe Autonomous Navigation for Systems with Learned {SE(3)} Hamiltonian Dynamics}},
     author = {Li, Zhichao and Duong, Thai and Atanasov, Nikolay},
     journal = {IEEE Open Journal of Control Systems (OJ-CSYS)},
     year = {2022},
   }

2. L-CSS

   

   Adaptive Control of SE(3) Hamiltonian Dynamics With Learned Disturbance Features

   Thai Duong and Nikolay Atanasov

   IEEE Control Systems Letters (L-CSS), 2022

   Bib PDF Website

   @article{duong2022adaptive,
     author = {Duong, Thai and Atanasov, Nikolay},
     journal = {IEEE Control Systems Letters (L-CSS)},
     title = {{Adaptive Control of SE(3) Hamiltonian Dynamics With Learned Disturbance Features}},
     year = {2022},
   }

3. T-RO

   Autonomous Navigation in Unknown Environments With Sparse Bayesian Kernel-Based Occupancy Mapping

   Thai Duong , Michael Yip, and Nikolay Atanasov

   IEEE Transactions on Robotics (T-RO), 2022

   Bib PDF Code Website

   @article{duong2022autonomous,
     author = {Duong, Thai and Yip, Michael and Atanasov, Nikolay},
     journal = {IEEE Transactions on Robotics (T-RO)},
     title = {{Autonomous Navigation in Unknown Environments With Sparse Bayesian Kernel-Based Occupancy Mapping}},
     year = {2022},
   }

Conference Papers

2025

1. ICRA

   High Accuracy Aerial Maneuvers on Legged Robots using Variational Integrator Discretized Trajectory Optimization

   Scott Beck, Chuong Nguyen, Thai Duong , Nikolay Atanasov, and Quan Nguyen

   In IEEE International Conference on Robotics and Automation (ICRA), 2025

   Bib PDF Video Code

   @inproceedings{beck2025high,
     title = {High Accuracy Aerial Maneuvers on Legged Robots using Variational Integrator Discretized Trajectory Optimization},
     author = {Beck, Scott and Nguyen, Chuong and Duong, Thai and Atanasov, Nikolay and Nguyen, Quan},
     booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
     year = {2025},
   }

2024

1. ICRA

   Optimal Scene Graph Planning with Large Language Model Guidance

   Zhirui Dai, Arash Asgharivaskasi, Thai Duong , Shusen Lin, Maria-Elizabeth Tzes, and 2 more authors

   In IEEE International Conference on Robotics and Automation (ICRA), 2024

   Bib PDF Code Website

   @inproceedings{dai2023optimal,
     title = {Optimal Scene Graph Planning with Large Language Model Guidance},
     author = {Dai, Zhirui and Asgharivaskasi, Arash and Duong, Thai and Lin, Shusen and Tzes, Maria-Elizabeth and Pappas, George and Atanasov, Nikolay},
     booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
     year = {2024},
   }

2. ICRA

   Hamiltonian Dynamics Learning from Point Cloud Observations for Nonholonomic Mobile Robot Control

   Abdullah Altawaitan, Jason Stanley, Sambaran Ghosal, Thai Duong , and Nikolay Atanasov

   In IEEE International Conference on Robotics and Automation (ICRA), 2024

   Bib PDF Code Website

   @inproceedings{altawaitan2023hamiltonian,
     title = {{Hamiltonian Dynamics Learning from Point Cloud Observations for Nonholonomic Mobile Robot Control}},
     author = {Altawaitan, Abdullah and Stanley, Jason and Ghosal, Sambaran and Duong, Thai and Atanasov, Nikolay},
     booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
     year = {2024},
   }

2023

1. L4DC

   Lie Group Forced Variational Integrator Networks for Learning and Control of Robot Systems

   Valentin Duruisseaux, Thai Duong , Melvin Leok, and Nikolay Atanasov

   In Learning for Dynamics and Control Conference (L4DC), 2023

   Bib PDF Code Website

   @inproceedings{duruisseaux2023lie,
     title = {{Lie Group Forced Variational Integrator Networks for Learning and Control of Robot Systems}},
     author = {Duruisseaux, Valentin and Duong, Thai and Leok, Melvin and Atanasov, Nikolay},
     booktitle = {Learning for Dynamics and Control Conference (L4DC)},
     year = {2023},
   }

2. MRS

   Learning to identify graphs from node trajectories in multi-robot networks

   Eduardo Sebastian, Thai Duong , Nikolay Atanasov, Eduardo Montijano, and Carlos Sagüés

   In IEEE International Symposium on Multi-Robot and Multi-Agent Systems (MRS), 2023

   Bib PDF Code Website

   @inproceedings{sebastian2023learning,
     title = {Learning to identify graphs from node trajectories in multi-robot networks},
     author = {Sebastian, Eduardo and Duong, Thai and Atanasov, Nikolay and Montijano, Eduardo and Sag{\"u}{\'e}s, Carlos},
     booktitle = {IEEE International Symposium on Multi-Robot and Multi-Agent Systems (MRS)},
     year = {2023},
   }

3. ICRA

   

   LEMURS: Learning Distributed Multi-robot Interactions

   Eduardo Sebastian, Thai Duong , Nikolay Atanasov, Eduardo Montijano, and Carlos Sagüés

   In IEEE International Conference on Robotics and Automation (ICRA), 2023

   Bib PDF Code Website

   @inproceedings{sebastian2023lemurs,
     title = {{LEMURS: Learning Distributed Multi-robot Interactions}},
     author = {Sebastian, Eduardo and Duong, Thai and Atanasov, Nikolay and Montijano, Eduardo and Sag{\"u}{\'e}s, Carlos},
     booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
     year = {2023},
   }

2022

1. L4DC

   

   Safe Autonomous Navigation for Systems with Learned SE(3) Hamiltonian Dynamics

   Zhichao Li, Thai Duong , and Nikolay Atanasov

   In Learning for Dynamics and Control Conference (L4DC), 2022

   Bib PDF Website

   @inproceedings{li2022safe,
     title = {{Safe Autonomous Navigation for Systems with Learned {SE(3)} Hamiltonian Dynamics}},
     author = {Li, Zhichao and Duong, Thai and Atanasov, Nikolay},
     booktitle = {Learning for Dynamics and Control Conference (L4DC)},
     year = {2022},
     organization = {PMLR},
   }

2021

1. RSS

   Hamiltonian-based Neural ODE Networks on the SE(3) Manifold For Dynamics Learning and Control

   Thai Duong and Nikolay Atanasov

   In Robotics: Science and Systems (RSS), 2021

   Bib PDF Code Website

   @inproceedings{duong21hamiltonian,
     author = {Duong, Thai and Atanasov, Nikolay},
     title = {{Hamiltonian-based Neural ODE Networks on the SE(3) Manifold For Dynamics Learning and Control}},
     booktitle = {Robotics: Science and Systems (RSS)},
     year = {2021},
   }

2020

1. ICRA

   Autonomous Navigation in Unknown Environments Using Sparse Kernel-based Occupancy Mapping

   Thai Duong , Nikhil Das, Michael Yip, and Nikolay Atanasov

   In IEEE International Conference on Robotics and Automation (ICRA), 2020

   Bib PDF Code Website

   @inproceedings{duong2020autonomous,
     title = {{Autonomous Navigation in Unknown Environments Using Sparse Kernel-based Occupancy Mapping}},
     author = {Duong, Thai and Das, Nikhil and Yip, Michael and Atanasov, Nikolay},
     booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
     year = {2020},
   }

Dissertation

2024

1. Dissertation

   Learning Environment and Dynamics Representations for Autonomous Robot Navigation

   Thai Duong

   University of California San Diego, La Jolla, CA, 2024

   Ph.D. Dissertation

   Bib PDF

   @thesis{duong2024learning,
     title = {Learning Environment and Dynamics Representations for Autonomous Robot Navigation},
     author = {Duong, Thai},
     year = {2024},
     school = {University of California San Diego},
     note = {Ph.D. Dissertation},
     location = {La Jolla, CA},
   }